Keywords:
- adaptive control
- bimanual coordination
- continuum robots
- differential kinematics
- human-robot collaboration
- learning from demonstration
- manipulability ellipsoids
- minimal intervention control
- movement primitives
- physical human-robot interaction
- programming by demonstration
- Riemannian manifolds
- robot learning
- self-guided exploration
- semi-autonomous teleoperation
- stochastic optimization
- surgical robots
- tensor methods
Publications of D. G. Caldwell
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2021
| Geometry-aware Manipulability Learning, Tracking and Transfer, , , and , in: International Journal of Robotic Research, 40(2-3):624-650, 2021 |
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2019
| Learning Task Priorities from Demonstrations, , , and , in: IEEE Transactions on Robotics, 35(1):78-94, 2019 |
[DOI] [URL] |
| Uncertainty-aware imitation learning using kernelized movement primitives, , , , and , in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 |
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2018
| Bimanual Skill Learning with Pose and Joint Space Constraints, , , and , in: Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), 2018 |
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| Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics, , , , , , and , in: IEEE Robotics and Automation Magazine (RAM), 25(2):18-27, 2018 |
[DOI] [URL] |
| Geometry-aware Tracking of Manipulability Ellipsoids, , , and , in: Robotics: Science and Systems, Pittsburgh, USA, 2018 |
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| Probabilistic Learning of Torque Controllers from Kinematic and Force Constraints, , , , and , in: Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pages 6552-6559, 2018 |
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2017
| An Approach for Imitation Learning on Riemannian Manifolds, , , , and , in: IEEE Robotics and Automation Letters (RA-L), 2(3):1240-1247, 2017 |
[DOI] [URL] |
| Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot, , and , in: Autonomous Robots, 41(2):333-347, 2017 |
[DOI] [URL] |
| Learning Manipulability Ellipsoids for Task Compatibility in Robot Manipulation, , , and , in: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, pages 3183-3189, 2017 |
[URL] |
| Learning Task-Space Synergies using Riemannian Geometry, , , and , in: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, pages 73-78, IEEE, 2017 |
[URL] |
| Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion, , , , , , , and , in: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Singapore, pages 1096-1103, IEEE, 2017 |
[URL] |
2016
| Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences, , , , and , in: Proceedings of the IEEE International Conference of Robotics and Automation, 2016 |
| High-slope terrain locomotion for torque-controlled quadruped robots, , , , , and , in: Autonomous Robots, 2016 |
[DOI] [URL] |
| Learning Controllers for Reactive and Proactive Behaviors in Human-Robot Collaboration, , , and , in: Frontiers in Robotics and AI, 3(30):1-11, 2016 |
[DOI] |
| Learning Physical Collaborative Robot Behaviors from Human Demonstrations, , , , and , in: IEEE Trans. on Robotics, 32(3):513-527, 2016 |
[DOI] [URL] |
| Variable Duration Movement Encoding with Minimal Intervention Control, , and , in: Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pages 497-503, 2016 |
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2015
| Learned Minimal Intervention Control Synthesis based on Hidden Semi-Markov Models, , and , in: Proc. of the 8th Intl Workshop on Human-Friendly Robotics, pages 17, 2015 |
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| Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems, , , and , in: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 464-470, 2015 |
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| Learning Optimal Controllers in Human-robot Cooperative Transportation Tasks with Position and Force Constraints, , , and , in: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 1024-1030, 2015 |
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| Learning the Stiffness of a Continuous Soft Manipulator from Multiple Demonstrations, , , and , in: Intelligent Robotics and Applications, pages 185-195, Springer, 2015 |
[DOI] [URL] |
2014
| A Skill Transfer Approach for Continuum Robots - Imitation of Octopus Reaching Motion with the STIFF-FLOP Robot, , , and , in: In Proc. of the AAAI Symp. on Knowledge, Skill, and Behavior Transfer in Autonomous Robots, Arlington, VA, USA, pages 49-52, 2014 |
[URL] |
| A task-parameterized probabilistic model with minimal intervention control, , and , in: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, pages 3339 - 3344, IEEE, 2014 |
[DOI] |
| Learning adaptive movements from demonstration and self-guided exploration, , and , in: Proc. IEEE Intl Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Genoa, Italy, pages 160-165, 2014 |
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| Learning by Imitation with the STIFF-FLOP Surgical Robot: A Biomimetic Approach Inspired by Octopus Movements, , , and , in: Robotics and Biomimetics, 1(13):1-15, 2014 |
[URL] |
| Learning Force and Position Constraints in Human-robot Cooperative Transportation, , and , in: Proc. IEEE Intl Symposium on Robot and Human Interactive Communication (Ro-Man), Edinburgh, Scotland, UK, pages 619-624, 2014 |
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